Configuring Do Place - Universal Robots ActiNav Operating Manual

4. Simple application examples

4.3.2. Configuring Do Place

When the robot reaches the position/s defined in the Place Rules, you must assign actions to the tool.
Each Place Rule position, must have an assigned Do Place action for the tool to place, and detach
from, a part.
To configure the Do Place, you assign the following actions to the tool:
• Pre-Place
• Place
• Post-Place
To assign a Pre-Place action:
1. In the Pick and Place Loop program, under Find Next Part, tap Pre-Place.
2. Add the required program nodes for your desired actions, under the Pre-Place node.
You can also add the required program nodes to the Insert actions to perform at pre-place field.
Your desired actions are performed once the robot reaches the Pre-Place position.
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